欢迎访问机床与液压官方网站!

咨询热线:020-32385312 32385313 RSS EMAIL-ALERT
基于SMA驱动结构的花型机器人设计
作者:
作者单位:

作者简介:

通讯作者:

中图分类号:

基金项目:


Design of SMA actuator of stem structure for flower robot
Author:
Affiliation:

Fund Project:

  • 摘要
  • |
  • 图/表
  • |
  • 访问统计
  • |
  • 参考文献
  • |
  • 相似文献
  • |
  • 引证文献
  • |
  • 资源附件
  • |
  • 文章评论
    摘要:

    以一种花型的家用服务性机器人的结构运动为研究对象,用硅胶作为花的根部材料,并在其中采用弹簧式的记忆合金作为驱动器,以线圈式SMA作为花瓣和叶子的驱动。采用SMA驱动器,设计并制造了花型机器人构造;通过得到根部、花瓣和叶子的运动方程,由dSPACE系统设计和控制驱动了花型机器人。通过实验证明了该系统具有可行性。

    Abstract:

    The flower robot, a household service robot, has been main focus of our research. Generally, the flower robot has the appearance of a common flower which consists of the petal, the stem, and the leafage. Besides having the appearance of a flower, the flower robot has the following functions, such as a moving mechanism, a sensing ability, and a home appliance function. Especially, the moving function is very important function among the various functions. The moving function of flower robot consists of the bending of stem, the blooming of petal and the stirring of the leafage. This paper, focuses on the movement of the flower robot structure. As an actuator for flower structure, coil type Shape Memory Alloy (SMA) is adopted and silicone stem, petal and leafage structures with 6 coil type SMA are proposed. Firstly, using SMA actuator, the flower structure are designed and fabricated. Secondly, the kinematic equation such as stem, petal and leafage are derived. Then, through the kinematic equation the control system can be designed to drive the flower robot by Dspace. Finally, through the experiment, the feasibility of the system is proven, and its performances are evaluated.

    参考文献
    相似文献
    引证文献
引用本文

黄皞磊,舒鸫鹏,罗应娜.基于SMA驱动结构的花型机器人设计[J].机床与液压,2015,43(12):146-152.
. Design of SMA actuator of stem structure for flower robot[J]. Machine Tool & Hydraulics,2015,43(12):146-152

复制
分享
文章指标
  • 点击次数:
  • 下载次数:
  • HTML阅读次数:
  • 引用次数:
历史
  • 收稿日期:
  • 最后修改日期:
  • 录用日期:
  • 在线发布日期: 2016-08-11
  • 出版日期: